Device for bilateral rehabilitation

Abstract

A device (1) for rehabilitation of both sides of a limb of a user, comprising: a body (5) connected to a connection base (2); a first motor (7 ') and a second motor (7' ') supported by the main body (5); a first rotary interface (8 ') and a second rotary interface (8' ') supported by the main body (5), which are rotatably operable by a motor (7', 7 '') about a first and a second axis of rotation (15 ', 15' '); a gripping fitting (12.1, 12.2,..., 12.n) having a gripping portion (13) and a coupling portion (14) which can be coupled to the first rotary interface (8 ') and the second rotary interface (8' '); an electronic control device (11); and a main body (5) configured to control the rotational movement and torque applied to the first and second rotational interfaces (8 ', 8' ') as a function of the angular position or torque detected by the position detection means (9', 9 '') or the torque detection means (10 ', 10' '), in which the main body (5) is connected to the connection base (2) by means of an adjustable and lockable joint (6), the joint allows the position of the body (5) relative to the connecting base (2) to be adjusted and locked in at least three different positions having a first axis of rotation (15 ') and a second axis of rotation (15' ') of different orientations.

Description

[0001] The present invention relates to a bilateral rehabilitation device for the upper and / or lower limbs of a user (patient), which, with the help of interaction between the user and the device, performs various movement postures of the user's upper or lower limbs, involving different joints, so as to help restore the function and movement coordination of the upper or lower limbs and promote the so-called brain plasticity mechanism.

[0002] Bilateral rehabilitation of the upper and lower limbs is based on the assumption that during coordinated bilateral movements, the movement of the non-paretic limb can support the stimulation of the movement of the paretic limb at the brain level. This rehabilitation method is effective in, for example, cerebral palsy, stroke or other mild hemiparesis.

[0003] Bilateral rehabilitation devices, especially those intended for autonomous use at home, should ideally meet the following requirements: portability, structural and user simplicity (ergonomics), adaptation to different anthropometric dimensions, versatility to perform different types of exercises (unilateral / bilateral), and low cost.

[0004] The availability of increasingly affordable mechatronic technologies on the one hand and the growing demand for rehabilitation solutions and devices for use outside hospitals and at home in order to enhance patient care on the other hand have stimulated the research and development of innovative rehabilitation devices that balance the need to limit costs with the need for versatility of use.

[0005] However, rehabilitation devices currently on the market do not allow for use in multiple different configurations. Therefore, a rehabilitation program with different movement positions requires the purchase and use of multiple specific devices. Instead, it would be desirable to have a single device that could support multiple different movement positions.

[0006] The following two-hand rehabilitation devices are known to the inventor and can be regarded as the background art of the present invention.

[0007] Device and The device is a non-configurable hand rehabilitation device that only allows one type of movement of the hand, but not other joints of the entire upper limb, such as the shoulder and elbow.

[0008] Other devices known to the inventors or under development allow for a wider range of motion of the upper limb, but constrain the motion of the upper limb to a fixed, unchangeable direction.

[0009] The device is a so-called "passive" non-motorized device which determines the movement of the upper limb with the aid of two linear guides.

[0010] Reha-Slide Device and The device is similar and does not allow the direction of movement of the guide to be oriented in an independent manner, but allows the movement of the two manipulators to be constrained to each other.

[0011] Bimanual Lifting The device allows the lifting intensity to be adjusted according to the movements and forces exchanged between the user's hands and the interface device (handle), thereby amplifying the lifting / lifting force. However, even BimanualLifting The device also does not allow any reconfiguration to perform a variety of different movement postures.

[0012] Rehabilitation devices with accessories for guiding and performing the movements of the two upper limbs, such as iron arms, are also known, but the possible movements are limited to one plane and independent movements of the two upper limbs are not possible.

[0013] Also known are devices with two electric cranks with adjustable rotation axes (Hand Robotic Rehabilitation ), which is structurally divided into several independent housings and can therefore be classified as a system consisting of several different devices with related installation dimensions.

[0014] More complex bimanual rehabilitation devices are also known, such as bilateral exoskeletons, e.g. It allows for a range of different movement positions but requires vertical wall mounting in hospitals.

[0015] Therefore, the object of the present invention is to provide a device for bilateral rehabilitation of limbs (understood as upper and / or lower limbs), which has the following characteristics: it can also be used in the home field, has a simple structure, is less bulky than the devices of the prior art, and can be configured to perform different types of movements.

[0016] This object and others are achieved by a bilateral rehabilitation device according to claim 1. Advantageous and preferred embodiments are the subject matter of the dependent claims.

[0017] In order to better understand the invention and appreciate its advantages, some non-limiting embodiments thereof will be described below by way of non-limiting examples with reference to the accompanying drawings, in which:

[0018] Figure 1 , Figure 2 , Figure 3 is a perspective view of a bilateral rehabilitation device according to an embodiment,

[0019] Figure 4 , Figure 5 , Figure 6 , Figure 7 for Figure 1 The main view of the rehabilitation device in ( Figure 4 )、Bottom View( Figure 5 )、Side view( Figure 6 , Figure 7 ),

[0020] Fig. 8A , Figure 8B , Figure 8C 1 is a front view of a rehabilitation device according to an embodiment in three different rotation axis orientation configurations,

[0021] Fig. 9 is an exploded view of a rehabilitation device according to an embodiment,

[0022] Figure 10.1 and Figure 10.2 is a perspective view of a rehabilitation device having a first set of grip accessories in two different grip orientation configurations, the accessories being suitable for both upper and lower extremities,

[0023] Figure 10.3 and Figure 10.4 is a perspective view of a rehabilitation device having a second set of gripping accessories in two different gripping orientation configurations and two different rotational axis orientation configurations, the accessories being suitable for both upper and lower limbs,

[0024] Figure 10.5 is a perspective view of a rehabilitation device having a third set of grip accessories (cranks, pedals) in a plurality of grip orientation configurations and a plurality of different rotation axis orientation configurations, the accessories being suitable for both upper and lower extremities,

[0025] Figure 10.6 is a perspective view of a rehabilitation device having a fourth set of grip accessories (linkages) in a plurality of grip orientation configurations and a plurality of different rotation axis orientation configurations,

[0026] Figure 10.7 is a perspective view of a rehabilitation device with a fourth set of grip accessories similar to the third set of handle accessories (cranks, pedals) in a different grip orientation configuration, and with an electronic screen, these accessories are suitable for both upper and lower limbs,

[0027] Figure 10.8 is a perspective view of a rehabilitation device having another set of mutually different grip accessories in a reconfigurable grip orientation configuration and having an electronic screen, the other set of mutually different grip accessories being suitable for both upper and lower limbs,

[0028] Figure 10.9Schematic diagram of a translation grip accessory that can be operated by a rotation-translation motion conversion mechanism, such an accessory is suitable for both upper and lower limbs,

[0029] Fig.11 is an exploded view of a mechanism for adjusting the orientation of a grip accessory of a rehabilitation device according to an embodiment,

[0030] Fig.12 shows an electric drive mechanism of a rehabilitation device according to an embodiment,

[0031] Fig.13 for Fig.12 A partial exploded view of a portion of the electric drive mechanism,

[0032] Figure 14.1 , Figure 14.2 , Figure 14.3 , Figure 14.4 , Figure 14.6 A control block diagram of a bilateral rehabilitation device according to an embodiment is shown, wherein:

[0033] Figure 14.1 shows the angular velocity estimator module,

[0034] Figure 14.2 shows the angular velocity control module

[0035] Figure 14.3 shows the angular position control module

[0036] Figure 14.4 shows the admittance control module,

[0037] Figure 14.5 A virtual mechanical model of both hands (or similarly both feet or generally both arms or both sides) is shown,

[0038] Figure 14.6 Shows the implementation Figure 14.5 The double-sided impedance control module of the virtual mechanical model,

[0039] Fig.15 It is a block diagram of an operating method of a rehabilitation device according to an embodiment. DETAILED DESCRIPTION

[0040] According to aspects of the present invention, a bilateral rehabilitation device 1 for a user's limbs (understood as upper limbs or lower limbs) comprises:

[0041] a connection base 2 having a connection member 3 for fixedly connecting the connection base 2 to a support 4,

[0042] - a body 5 connected to the connection base 2,

[0043] - a first motor 7' and a second motor 7", which are supported by the body 5,

[0044] a first rotation interface 8' and a second rotation interface 8", wherein the first rotation interface 8' is supported by the body 5 at a first position and is rotatable about a first rotation axis 15' by a first motor 7', and the second rotation interface 8" is supported by the body 5 at a second position spaced apart from the first position and is rotatable about a second rotation axis 15" by a second motor 7",

[0045] a set 12 of gripping accessories 12.1, 12.2, ..., 12.n, each gripping accessory having a gripping portion 13 (intended to be gripped by a user) and a coupling portion 14, said coupling portion 14 being reversibly coupleable and integrally rotatable with one of the first rotation interface 8' and the second rotation interface 8", respectively,

[0046] An electronic control device 11, which is signal-connected to the first motor 7' and the second motor 7" and comprises:

[0047] a first position detection device 9 ′ for detecting the angular position of the first rotation interface 8 ′ relative to the body 5 ,

[0048] a second position detection device 9'' for detecting the angular position of the second rotation interface 8'' relative to the body 5,

[0049] a first torque detection means 10' for detecting the torque applied to the first rotation interface 8',

[0050] a second torque detection device 10", for detecting a torque applied to the second rotation interface 8",

[0051] The electronic control device 11 is configured to control the rotational movement and torque applied to the first rotation interface 8' and the second rotation interface 8" according to the angular position and / or torque detected by the first position detection device 9' and the second position detection device 9" and the first torque detection device 10' and the second torque detection device 10",

[0052] In which, the main body 5 is connected to the connecting base 2 via an adjustable and lockable joint 6, wherein the joint 6 allows the position of the main body 5 relative to the connecting base 2 to be adjusted and locked in at least three (or at least two or three) different body positions, and different body positions have differently oriented first rotation axis 15' and second rotation axis 15".

[0053] In this context, the feature "different body positions have differently oriented first rotation axis 15' and second rotation axis 15"" means that when the body position changes, the orientation of the first rotation axis 15' changes, and when the body position changes, the orientation of the second rotation axis 15" also changes. On the contrary, the orientation of the first rotation axis 15' does not necessarily change relative to the orientation of the second rotation axis 15". Both the first rotation axis 15' and the second rotation axis 15" can maintain, for example, a fixed relative position to each other, or can be parallel or coaxial, i.e. coincident.

[0054] By virtue of the configuration of the rehabilitation device 1 , it can be used in a home environment, has a simple and compact structure, and can be configured to perform different types of limb exercises.

[0055] By means of position adjustment of a single body 5 supporting two motors 7', 7" and two rotation interfaces 8', 8", the position and orientation of the two rotation axes of two different spaced-apart rotation interfaces 8', 8" are adjusted, making the rehabilitation device 1 particularly versatile and suitable for a large number of different movement postures for each arm and synchronous, asynchronous, related, independent, symmetrical, asymmetrical, same-direction or opposite-direction, simultaneous or continuous combinations of movement postures of two limbs (e.g. upper limbs).

[0056] By means of the set 12 of gripping accessories 12 . 1 , 12 . 2 , . . . , 12 . n which can be coupled to the rotation interface 8 ′, 8 ″, the possibility of defining a free movement adapted to the individual patient's condition is further increased.

[0057] Detailed description of the connection base 2

[0058] According to an embodiment, the connection base 2 may comprise a "U" shape or a clamp shape defining a connection seat 16 accessible from the lateral direction for receiving, for example, the edge of a table (support 4).

[0059] The connection member 3 may comprise, for example, a clamp and / or a fastening screw and / or an adhesive surface and / or a suction cup and / or a magnet and / or Velcro and allows a fixed but removable, reversible and repositionable connection of the connection base 2 to the support 4 .

[0060] The connection base 2 further forms a joint fastening portion 17 for fastening a base portion 18 of the adjustable joint 6 to the connection base 2, for example a fastening device having a position of the base portion 18 that can be rotated relative to the connection base 2 to adjust the position of the base portion 18 about an auxiliary adjustment axis 19 (for example a horizontal auxiliary adjustment axis). Figure 1 , Figure 5 , Figure 6 ).

[0061] According to an embodiment, the base portion 18 and the joint fastening portion 17 can be connected to each other by means of a rotation pin 20, the rotation pin 20 constraining its adjustment movement to rotate only around the auxiliary adjustment axis 19, and a fastening bolt 21 inserted into a hole of one of the base portion 18 and the joint fastening portion 17 and an arcuate groove of the other of the base portion 18 and the joint fastening portion 17 ( Figure 2 , Figure 5 ).

[0062] Detailed description of subject 5

[0063] According to an embodiment, the body 5 has an outer shell 22, for example in the form of a parallelepiped or a cube or a sphere, which at least partially but preferably completely accommodates the first motor 7' and the second motor 7", and if provided, also accommodates a first transmission device 23' (preferably with a constant transmission ratio, preferably less than 1, i.e. a reduction ratio) connected between the first motor 7' and the first rotation interface 8' and a second transmission device 23" (preferably with a constant transmission ratio, preferably less than 1, i.e. a reduction ratio) connected between the second motor 7" and the second rotation interface 8" ( Fig.12 ).

[0064] The first transmission 23' and / or the second transmission 23" may comprise, for example, a reduction gear or a belt and pulley transmission, such as a speed reducer, or another similar and equivalent transmission system.

[0065] According to an embodiment, in order to reduce the overall size of the main body 5 as much as possible, the first motor 7' and the second motor 7" are arranged parallel to each other and placed side by side, and their axial extensions overlap, so that the axial dimensions of both the first motor 7' and the second motor 7" are smaller than the sum of their individual axial extensions.

[0066] Still in order to reduce the overall size of the main body 5 as much as possible, the first operating connection between the first motor 7' and the first rotation interface 8' (for example by means of the first transmission 23' or by means of a "direct drive" connection) and the second operating connection between the second motor 7" and the second rotation interface 8" (for example by means of the second transmission 23" or by means of a "direct drive" connection) are made / positioned on two opposite sides of the first motor 7' and the second motor 7" or on two opposite sides of the main body 5. Preferably, the first transmission 23' is located laterally beside the second motor 7" and its axial extension overlaps, and the second transmission 23" is located laterally beside the first motor 7' and its axial extension overlaps, so that the total axial dimension of the first motor 7'+first transmission 21' and the second motor 7"+second transmission 21" components are the same as the individual axial dimension of only one of the first motor 7'+first transmission 21' and the second motor 7"+second transmission 21" components.

[0067] A further advantage is that both the first rotary interface 8' and the second rotary interface 8" are in a transversely displaced position relative to both the first motor 7' and the second motor 7". This avoids stacking of components one after another in the axial direction of the motors 7', 7", thereby allowing minimization of the dimensions of the body 5 in the axial direction of the motors 7', 7" ( Fig.12 , Fig.13 ).

[0068] According to an embodiment, the first rotation interface 8 ′ and the second rotation interface 8 ″ are accessible from the outside of the body 5 , and preferably face or turn in two opposite directions and towards the outside of the body 5 .

[0069] Preferably, the first rotation interface 8 ′ and the second rotation interface 8 ″ are positioned on two opposite sides of the body 5 , and the first rotation axis 15 ′ and the second rotation axis 15 ″ are parallel, preferably coincident and coaxial.

[0070] The first rotation interface 8' and the second rotation interface 8" include quick coupling devices that do not require the aid of tools, such as elastic snap-fit ​​couplers, threaded ring nut couplers, bayonet couplers, insert couplers or threaded couplers, which are used to achieve a rotatable integral connection between the rotation interface 8', 8" and the coupling part 14 of the holding accessory 12.1, 12.2, ..., 12.n.

[0071] This allows a quick and easy reconfiguration of the rehabilitation device 1 by replacing and modifying the grip accessories 12.1, ..., 12.n, even in a home environment and without the help of a professional.

[0072] According to an embodiment, the adjustable joint 6 is configured such that the body 5 can be rotated relative to the connection base 2 about a main adjustment axis 26 and can be locked relative to the connection base 2, wherein the main adjustment axis 26 is inclined relative to the first rotation axis 15' and the second rotation axis 15".

[0073] The adjustable joint 6 may comprise an adjustable portion 24 integral with the body 5 and rotatable and lockable relative to the base portion 18 about a main adjustment axis 26 inclined relative to the first and second rotation axes 15', 15".

[0074] The adjustable part 24 can be connected to the base body 5 in a fixed manner (immovable) or preferably detachably (for example by screws) to a specific support seat 25 ( Figure 6 , Fig. 9 ). The detachable connection allows the partially disassembled device 1 to be stored and transported with particularly small dimensions and with little packaging material.

[0075] By virtue of the inclination of the main adjustment axis relative to the first 15 ′ and second 15 ″ rotational axes, the latter can be oriented in three mutually transverse, preferably orthogonal directions in the at least three body positions mentioned above.

[0076] More precisely, the main adjustment axis 26 is inclined relative to the coincident rotation axes 15', 15" (and preferably, but not necessarily coincident therewith) by an angle ranging between 45° and 65°, preferably between 50° and 60°, more precisely by the inverse tangent (Sqrt(2)), i.e. 54.74°. This allows the first rotation axis 15' and the second rotation axis 15" to be oriented in mutually orthogonal directions in space (in Fig. 8A , Figure 8B , Figure 8C , the same rotational interface is indicated by arrows to show three orthogonal orientations).

[0077] For a cubic shape of the main body 5, in which the first rotation axis 15' and the second rotation axis 15" coincide and are centered on two opposite faces of the cube, the inclination angle between the main adjustment axis 26 or the first rotation axis 15' and the second rotation axis 15" is equal to the angle formed by the diagonal of the cube and the normal angle of each of its faces, which is equal to the inverse tangent (Sqrt(2)).

[0078] Detailed description of the group 12 of gripping accessories 12.1, ..., 12.n

[0079] According to an embodiment, the gripping accessories 12.1, ..., 12.n include two handle accessories 12.1 ( Figure 10.1 , Figure 10.2 ), each handle accessory is capable of being coupled to one of the first rotation interface 8' and the second rotation interface 8", respectively, wherein the holding portion 13 is capable of being oriented relative to the coupling portion 14 (and can be locked in place) around a handle orientation axis 27 that is transverse (preferably orthogonal) to the first rotation axis 15' and the second rotation axis 15".

[0080] To this end, the handle accessory 12.1 may include an orientation and locking mechanism 28 ( Fig.11 ), for example, can be elastically locked and released by pressing the button 29.

[0081] According to an embodiment, the gripping accessories 12.1, ..., 12.n include a wheel accessory 12.2 ( Figure 10.3 , Figure 10.4), the wheel accessory 12.2 is capable of being coupled to one of the first rotation interface 8' and the second rotation interface 8", and includes two gripping portions 13, the two gripping portions 13 being spaced apart from each other and positioned on two opposite sides relative to the first rotation interface 8' or the second rotation interface 8", and being capable of being adjusted around respective handle orientation axes 27, 27 relative to the coupling portion 14 (and being capable of being locked in place), for example, the handle orientation axis being parallel to the first rotation axis 15' or the second rotation axis 15".

[0082] To this end, the wheel assembly 12.2 may include an orientation and locking mechanism 28 ( Fig.11 ), for example, can be elastically locked and released by pressing the button 29.

[0083] According to an embodiment, the gripping accessories 12.1, ..., 12.n include two crank accessories 12.3 ( Figure 10.5 ), each crank accessory 12.3 can be coupled to one of the first rotation interface 8' and the second rotation interface 8", wherein the grip portion 13 is parallel to and spaced from the first rotation axis 15' and the second rotation axis 15". The coupling portion 14 of the crank accessory 12.3 can be configured to couple to the corresponding rotation interface 8', 8" at two different positions of the crank accessory 12.3, flipped 180° to each other ( Figure 10.5 ).

[0084] According to an embodiment, the gripping accessories 12.1, ..., 12.n include a linkage accessory 12.4 or an articulated multilateral accessory ( Figure 10.6 ), which has two coupling parts 14, both of which are connected to a single gripping part 13 by means of two articulated linkages.

[0085] According to an embodiment, the gripping accessories 12.1, ..., 12.n include a translation accessory 12.5 ( Figure 10.9 ), wherein the holding portion 13 is capable of linear translation relative to the coupling portion 14, and it includes a non-self-locking (e.g., a rack) motion conversion mechanism 30 and an anti-rotation device 31, wherein the motion conversion mechanism 30 is inserted between the holding portion 13 and the coupling portion 14, and the anti-rotation device 31 prevents the holding portion 13 from rotating relative to the main body 5.

[0086] Figure 10.8 Different embodiments of the connection of grip accessories 12 . 1 , . . . , 12 . n to the main body 5 are shown.

[0087] The coupling part 14 of the grip fitting 12 . 1 , . . . , 12 . n has a defined angular reference for connection with the rotation interface 8 ′, 8 ″ in a single angular position, thus allowing the electronic control device 11 to always know its spatial orientation in a unique manner.

[0088] Detailed Description of the Electronic Control Device 11

[0089] The control device 11 may comprise a computer as shown in the figure, for example fixed on the connection base 2, and equipped with or connectable to a user interface 32 having a display 33 and / or a keyboard 34. Alternatively, the control device 11 may be located inside the body 5. In an embodiment, the control device 11 may be connected to an external electronic device (e.g., a tablet computer or a smartphone) serving as a user interface or be connectable thereto (by means of Wi-Fi, Bluetooth, etc.).

[0090] The control device 11 is configured to allow selection of a variety of rehabilitation programs / modes and to be able to adjust a plurality of movement parameters of the corresponding rehabilitation programs / modes.

[0091] The rehabilitation programs / modes include a rehabilitation program in which the first rotation interface 8 ′ and the second rotation interface 8 ″ move synchronously and a rehabilitation program in which the movements of the first rotation interface 8 ′ and the second rotation interface 8 ″ are different from each other.

[0092] According to an embodiment, the control device 11 is configured to perform a rehabilitation program with control of the first motor 7' and the second motor 7" by means of control of the position and rotation speed, particularly suitable for passive rehabilitation, wherein the rehabilitation device 1 applies pre-set movements to the user's limbs.

[0093] According to an additional or alternative embodiment, the control device 11 is (further) configured to perform a rehabilitation program with control of the first motor 7' and the second motor 7" by means of impedance and / or input control, based on:

[0094] - the movement / position of the first rotation interface 8 ′ and the second rotation interface 8 ″ detected by the first position detection means 9 ′ and the second position detection means 9 ″,

[0095] - theoretical movement / position of the first rotational interface 8 ′ and the second rotational interface 8 ″ commanded by the control device 11 , and

[0096] - The respective torques applied / transmitted to the first rotational interface 8' and the second rotational interface 8'' detected by the first torque sensing means 10'' and the second torque sensing means 10''.

[0097] Impedance / admittance control is particularly suitable for motor rehabilitation, in which the user's own movements are supported to the extent necessary (“assistance on demand”) in order to support the user's (residual) motor skills based on his actual residual abilities when using the device 1 .

[0098] According to an embodiment, the control device 11 is configured or can be configured to control the movement of the first motor 7' and the second motor 7" in a coordinated and dependent manner according to one or more dependent parameters and / or one or more dependent functions (for example, pre-set or selectable through the user interface 32).

[0099] The dependent parameters or functions of the movement of the first motor 7' and the second motor 7" may be selected so that the second motor 7" is controlled according to the detected movement of the first rotary interface 8', thereby applying a movement of the second rotary interface 8" that:

[0100] - the movement relative to the first rotational interface 8' is offset in time by a time offset value (which can be selected according to varying rehabilitation needs), and / or

[0101] - offset in position (forwards or backwards) relative to the movement of the first rotation interface 8' by a position offset value (which can be selected according to the changing rehabilitation needs), and / or

[0102] - a movement relative to the first rotational interface 8 ′ in the opposite direction with or without a time offset and / or position offset.

[0103] According to an embodiment, the first position detection device 9' and the second position detection device 9" comprise an encoder for each of the first rotation interface 8' and the second rotation interface 8" (such encoders may preferably be placed directly on the first motor 7' and the second motor 7", but there may be no other sensors for directly measuring the rotation speed, or alternatively a first rotation speed sensor for detecting the rotation speed of the first rotation interface 8' and a second rotation speed sensor for detecting the rotation speed of the second rotation interface 8" may be provided. The angular position detection may be redundant (two encoders or angular position detectors are associated with each of the two rotation interfaces 8', 8"), with a consistency check, the angular position detection is incremental and / or absolute to avoid a homing procedure (initial resetting of the starting angular position). The control device 1 may use a closed-loop logic to estimate the rotation speed value, such as Figure 14.1 As shown. The angular position measurement value θ of each rotating interface 8', 8" m With the value estimated from the current rotation speed · θ s The estimated angular position value θ at the beginning s The calculated error Δθ is then used in PID logic (proportional-integral-derivative, or similar processing module), which outputs an estimate of the rotation speed value for the next control cycle.

[0104] According to an embodiment, using the above speed estimation method, the control device 11 can be configured to implement a second closed loop for controlling the speed of the first rotary interface 8' and the second rotary interface 8", such as Figure 14.2 As shown. · θ r With the measurement position θ m Actual estimated speed at start · θ s The error between is used in a PID logic (or similar processing module) which outputs a motor command U for the motor 7', 7" of the corresponding rotary interface 8', 8". c .

[0105] To ensure the safety of the user, the control device 11 continuously monitors the current absorbed by the motors 7 ′, 7 ″ and the rotation speed and torque transmitted by means of the first 8 ′ and second 8 ″ rotational interfaces, verifying that appropriate applied limits are not exceeded.

[0106] According to an embodiment, the first and second torque sensing means 10', 10" may comprise means for sensing the current absorbed by the first and second motors 7', 7", respectively, and means for estimating / determining the transmitted torque from the detected absorbed current variations.

[0107] According to an embodiment, the first torque detecting device 10' and the second torque detecting device 10" may include one or more force sensors, for example, force sensors connected to the motors 7', 7" or the rotation interfaces 8', 8", and the force sensors are configured to provide signals representing the torque transmitted to / from the first rotation interface 8' and / or the second rotation interface 8", respectively.

[0108] Similarly, the closed loop for controlling each of the first rotation interface 8' and the second rotation interface 8" in position is as follows: Figure 14.3 As shown. Set the reference angle position θ r The angular position θ m The error between is used in the PID logic (or a processing / regulation module other than PID) to generate a speed command for the motor 7', 7". · θ cc The new speed reference is then input into the speed control loop described previously ( Figure 14.2 ) to generate the actual motor command U c .

[0109] According to an embodiment, the control device 11 is configured to monitor the tracking error (ie the difference between the detected position value and / or the actual angular velocity and its commanded target value) to achieve a fail-safe operation.

[0110] According to an embodiment, in order to control the angular position and the moment (torque) transmitted by each of the first rotary interface 8' and the second rotary interface 8", it is advantageous to implement an admittance control loop by means of a control device 11 (all method algorithms described herein are advantageously executed by the control device 11, which is therefore configured to execute them), for example Figure 14.4 The torque C applied by the control device 11 to each of the first motor 7' and the second motor 7" is m Estimation (for example, with the help of the proportionality factor K t The absorbed current I α The estimated torque value C m With reference torque C r The calculated torque difference ΔC between the estimated torque and the reference torque is applied ("made active") to a virtual model with a predefined admittance characteristic. With this method, a reference rotation speed can be defined. · θ c , which is then input into the speed control described previously ( Figure 14.2 ) to obtain the first rotation interface 8' and the second rotation interface 8" (ie, at the torque C u The actual command U of the holding accessory 12.1, ..., 12.n) exchanged with the user c .

[0111] According to an embodiment, one or more or all of said control modes are applied in an independent manner to each of the first rotational interface 8 ′ and the second rotational interface 8 ″ of the device 1 .

[0112] Alternatively or (advantageously) additionally, the control device 11 is configured or configurable by the user by means of program selection to control the movements and torques applied to the first rotation interface 8' and the second rotation interface 8" in a dependent manner to obtain a bilateral (two-limb) device-user interaction.

[0113] According to an embodiment, the motion and torque applied to the first rotation interface 8' and the second rotation interface 8" (or in other words the first rotation interface 8' and the second rotation interface 8") are achieved by Figure 14.5 The logic shown diagrammatically in (dynamic model of motion and torque coupling) is (dynamically) connected to each other. Figure 14.5In FIG. 1 , p1 and p2 indicate two first rotation interfaces 8 ′ and second rotation interfaces 8 ″, while t represents a virtual transmission element capable of scaling the effects of the two first rotation interfaces 8 ′ and second rotation interfaces 8 ″ by means of scaling parameters τ1 and τ2. As shown in the figure, p1 and p2 are coupled to t via virtual impedances characterized by stiffness and damping values ​​indicated by k1, d1 and k2, d2, respectively, and having preset, selectable and / or adjustable values. In turn, the virtual transmission element t is coupled to an absolute reference xy by means of a spring-damper system (numerical model) characterized by k t ,d t The stiffness and damping values ​​indicated are, and have preset, selectable and / or adjustable values. The angles formed by p1, p2 and t with the absolute reference system xy are indicated by θ1, θ2 and α, respectively. In addition, and The torques acting on p1 and p2 are indicated by C1 and C2 respectively, while C t represents the external torque applied directly to t to assist the user in moving. Finally, C u1 and C u2 It is the torque transmitted to the first rotation interface 8 ′ and the second rotation interface 8 ″ through the user's limbs.

[0114] With this approach, by modifying the control parameters, it is possible to adjust both the intensity of the torque applied externally and the intensity of the torque that one limb can transmit to another limb, and scale the range of motion of both limbs based on the user's residual mobility.

[0115] By utilizing and applying the method and the dynamic model of bilateral dependence (hands or feet), according to an embodiment, the control device 11 is configured to implement Figure 14.6 The control method shown in the example.

[0116] For each of the first rotational interface 8' and the second rotational interface 8", the control device calculates the angular position and the rotational speed based on the absolute angular position measurements as follows.

[0117]

[0118]

[0119] Based on the rotation speed value, the control device 11 calculates the torque applied to the virtual impedance and then transmitted to the virtual transmission element.

[0120]

[0121]

[0122] According to the position and angular velocity and the torque applied to the virtual transmission element, the control device 11 solves the dynamic motion equation of the virtual transmission to infer α and α of the next control cycle. (angular position and angular velocity).

[0123]

[0124] The control device 11 uses the inferred angular position and angular velocity values ​​(here synonymous with the rotational speed) of the virtual transmission element as the actual power supply command U sent to each of the first motor 7' and the second motor 7". c basis.

[0125] According to an embodiment, the control device 11 communicates signals with one or more of the following:

[0126] - one or more electromyographic sensors 35,

[0127] - one or more functional electrical stimulation devices 36,

[0128] - one or more EEG signal detectors 37,

[0129] - one or more electronic graphical user interfaces and / or auditory user interfaces 38,

[0130] - one or more EDA (Electrodermal Activity) sensors 39,

[0131] - one or more ECG (Electrical Cardiac Activity) sensors 40,

[0132] - one or more digital cameras 41 for monitoring the movements of the user and / or the user's limbs,

[0133] And is configured to control the first motor 7' and the second motor 7" according to the signal provided thereby.

[0134] According to an embodiment, the first rotational interface 8' and the second rotational interface 8" include electrical contact devices for transmitting electrical signals between the holding accessories 12.1, ..., 12.n and the control device 11, for example, for transmitting signals generated by one or more force or pressure sensors connected to the holding part 13, and / or for transmitting activation signals of one or more light signals (LEDs) connected to the holding part 13.

[0135] In the example described, the motors 7 ′, 7 ″ are electric motors, but they could also be different motors, for example pneumatic motors.

[0136] The rehabilitation device 1 allows different movement positions to be performed in bilateral rehabilitation activities, which can involve the joints of the limbs, such as the upper limbs, in different ways. This is achieved by using different grip accessories 12.1, ..., 12.n in combination with the possibility of multifunctional orientation of the body 5 and the relative rotation axes 15', 15".

[0137] The technical reference field is related to neuromotor rehabilitation, where the availability of a device capable of supporting the patient during the neuromotor recovery phase is of considerable utility. Even further, given the portability of the device 1, it is also very suitable for use outside of hospitals and in telerehabilitation environments, allowing for autonomous use by the patient.

[0138] Obviously, in order to meet occasional and specific needs, those skilled in the art may make further changes and modifications to the rehabilitation device 1 according to the present invention, all of which belong to the scope of protection of the present invention, as defined by the following claims.

[0139] Reference numerals

[0140] 1 Rehabilitation device

[0141] 2 Connect the base

[0142] 3 Connecting components

[0143] 3.1 Fixture

[0144] 3.2 Fastening screws

[0145] 3.3 Bonding surface

[0146] 3.4 Suction cup

[0147] 3.5 Magnets

[0148] 3.6 Velcro

[0149] 4 Support

[0150] 5. Subject

[0151] 6 Adjustable joints

[0152] 7', 7" first motor, second motor

[0153] 8', 8" first rotation interface, second rotation interface

[0154] 9', 9" first position detection device, second position detection device,

[0155] 10', 10" first torque detection device, second torque detection device,

[0156] 11 Electronic Control Unit

[0157] Set of 12 grip accessories

[0158] 12.1 Handle accessories

[0159] 12.2 Wheel accessories

[0160] 12.3 Crank Accessories

[0161] 12.4 Linkage accessories

[0162] 12.5 Translation accessories

[0163] 13 Grip

[0164] 14 Coupling part

[0165] 15', 15" first rotation axis, second rotation axis

[0166] 16 Connector

[0167] 17 Connector fastening part

[0168] 18 Base part of adjustable joint

[0169] 19 Auxiliary adjustment axis

[0170] 20 Rotation pin

[0171] 21 Fastening bolts

[0172] 22 Outer shell

[0173] 23', 23" first transmission, second transmission

[0174] 24 Adjustable part of adjustable joint

[0175] 25 Main body support base

[0176] 26 Main adjustment axis

[0177] 27 Handle orientation axis

[0178] 28 Orientation and locking mechanism

[0179] 29 Buttons

[0180] 30 Motion conversion mechanism

[0181] 31 Anti-rotation device

[0182] 32 User Interface

[0183] 33 Display

[0184] 34 Keyboard

[0185] 35 EMG Sensor

[0186] 36 Functional electrical stimulation device

[0187] 37 EEG signal detector

[0188] 38 Auditory User Interface,

[0189] 39EDA (Electrodermal Activity) Sensor

[0190] 40ECG (Electrical activity of the heart) sensor

[0191] 41Digital camera.

Claims

1. A device (1) for bilateral rehabilitation of a user's limbs, comprising: - a connecting base (2) for fixedly connecting the connecting base (2) to a support (4), - a main body (5), connected to the connection base (2), - a first motor (7') and a second motor (7"), supported by said body (5), a first rotation interface (8') supported by the body (5) in a first position and rotatably operable about a first rotation axis (15') by means of the first motor (7'), and a second rotary interface (8") supported by the body (5) at a second position spaced apart from the first position and rotatable about a second rotary axis (15") by the second motor (7"), - a group (12) of gripping accessories (12.1, 12.2, ..., 12.n), each gripping accessory having a gripping portion (13) and a coupling portion (14), which can be reversibly coupled to one of the first rotation interface (8') and the second rotation interface (8") and rotate integrally, - an electronic control device (11) which is signal-connected to the first motor (7') and the second motor (7") and comprises: - a first position detection device (9') for detecting the angular position of the first rotation interface (8') relative to the body (5), - a second position detection device (9") for detecting the angular position of the second rotation interface (8") relative to the body (5), wherein the electronic control device (11) is configured to control the rotational movement applied to the first rotation interface (8') and the second rotation interface (8") according to the angular position detected by the first position detection device and the second position detection device (9', 9"), The main body (5) is connected to the connection base (2) via an adjustable and lockable joint (6), wherein the joint allows the position of the main body (5) relative to the connection base (2) to be adjusted and locked in at least three different body positions, wherein the different body positions have the first rotation axis (15') and the second rotation axis (15") with different orientations.

2. The device (1) according to claim 1, wherein: The electronic control device (11) further comprises: - a first torque detection device (10') for detecting a torque applied to the first rotation interface (8'), - a second torque detection device (10") for detecting a torque applied to the second rotation interface (8"), Wherein, the electronic control device (11) is configured to control the rotational movement and torque applied to the first rotational interface (8') and the second rotational interface (8") according to the angular position detected by the first position detection device and the second position detection device (9', 9") and / or the torque detected by the first torque detection device and the second torque detection device (10', 10") 3. The device (1) according to any one of the preceding claims, wherein: The connection base (2) includes a "U" shape or clamp shape that defines a connection seat (16) that is accessible from the side to receive the edge of a table.

4. The device (1) according to any one of the preceding claims, wherein: The connection base (2) forms a joint fastening portion (17) for fastening a base portion (18) of an adjustable joint (6) to the connection base (2), and is capable of rotating and adjusting the base portion (18) relative to the connection base (2) around a horizontal auxiliary adjustment axis (19).

5. The device (1) according to any one of the preceding claims, wherein: The main body (5) comprises an outer shell (22) which accommodates the first motor (7') and the second motor (7"), wherein: - the first motor (7') and the second motor (7") are arranged parallel to each other and side by side, with their axial extensions overlapping, so that the axial dimensions of both the first motor (7') and the second motor (7") are less than the sum of their individual axial extensions, - a first operating connection between the first motor (7') and the first rotation interface (8') and a second operating connection between the second motor (7") and the second rotation interface (8") are positioned on opposite sides of the first motor (7') and the second motor (7"), and - the first running connection (23") is positioned laterally beside the second motor (7"), with their axial extension overlapping, and the second running connection (23") is positioned laterally beside the first motor (7"), with their axial extension overlapping, - Both the first rotation interface (8') and the second rotation interface (8") are in a laterally displaced position relative to both the first motor (7') and the second motor (7").

6. The device (1) according to any one of the preceding claims, wherein: The first rotation interface (8') and the second rotation interface (8") are accessible from the outside of the body (5) and face in two opposite directions towards the outside of the body (5).

7. The device (1) according to any one of the preceding claims, wherein: The first rotation interface (8') and the second rotation interface (8") are located on two opposite sides of the body (5), and the first rotation axis (15') and the second rotation axis (15") are parallel or coincident.

8. The device (1) according to any one of the preceding claims, wherein: The first rotation interface (8') and the second rotation interface (8") include a quick coupling device that does not require the aid of tools, or include one of the following: - elastic snap-fit ​​coupling, - threaded ring nut coupling, - Bayonet coupling, - Insert the coupler, - threaded coupling, For a rotationally locked connection between a rotation interface (8', 8") and a coupling portion (14) of the gripping accessory (12.1, 12.2, ..., 12.n).

9. The device (1) according to any one of the preceding claims, wherein: The adjustable joint (6) is configured so that the body (5) can be rotated relative to the connection base (2) about a main adjustment axis (26) and can be locked relative to the connection base (2), Therein, the main adjustment axis (26) is inclined relative to the first rotation axis (15') and relative to the second rotation axis (15").

10. The device (1) according to claim 9, wherein: The main adjustment axis (26) is inclined relative to the rotation axis (15', 15") at an angle between 45° and 65°, or between 50° and 60°, or 54.7°, so as to allow the first rotation axis (15') and the second rotation axis (15") to be oriented in three mutually orthogonal directions in space by means of rotational adjustment only about the main adjustment axis (26).

11. The device (1) according to any one of the preceding claims, wherein: The gripping accessory (12.1, ..., 12.n) comprises two handle accessories (12.1), each handle accessory being capable of being coupled to one of the first rotation interface (8') and the second rotation interface (8"), respectively. Wherein, when the handle accessory (12.1) is coupled to the rotation interface (8', 8"), the gripping portion (13) can be oriented and locked in place relative to the coupling portion (14) around a handle orientation axis (27) orthogonal to the first rotation axis (15') and the second rotation axis (15").

12. The device (1) according to any one of the preceding claims, wherein: The holding accessory (12.1, ..., 12.n) includes a wheel accessory (12.2), which can be coupled to one of the first rotation interface (8') and the second rotation interface (8"), and has two holding parts (13), which are spaced apart and positioned on two opposite sides relative to the first rotation interface (8') or the second rotation interface (8"), and can be adjusted and locked relative to the coupling part (14) around their respective handle orientation axes (27, 27).

13. The device (1) according to any one of the preceding claims, wherein: The holding accessory (12.1, ..., 12.n) comprises two crank accessories (12.3), each crank accessory being coupled to one of the first rotation interface (8') and the second rotation interface (8"), respectively, wherein the holding portion (13) is parallel and spaced relative to the first rotation axis (15') and relative to the second rotation axis (15").

14. The device (1) according to any one of the preceding claims, wherein: The gripping accessory (12.1, ..., 12.n) comprises a linkage accessory (12.4) having two coupling parts (14), both of which are connected to a single gripping part (13) by means of two articulated linkages.

15. The device (1) according to any one of the preceding claims, wherein The holding accessory (12.1, ..., 12.n) comprises a translation accessory (12.5), the holding part (13) of the translation accessory being capable of linear translation relative to the coupling part (14), and the translation accessory comprising a non-self-locking motion conversion mechanism (30), such as a rack, which is inserted between the holding part (13) and the coupling part (14), and an anti-rotation device (31) for preventing the holding part (13) from rotating relative to the main body (5).

16. The device (1) according to any one of the preceding claims, wherein: The coupling part (14) of the gripping fitting (12.1, ..., 12.n) forms a defined angular reference for connection with a rotation interface (8', 8") in a single relative angular position.

17. The device (1) according to any one of the preceding claims, wherein: The control device (11): - comprising a computer connectable to a user interface (32) having a display (33), - configured to allow selection of a plurality of rehabilitation programs and to be able to adjust a plurality of movement parameters of the respective rehabilitation programs, Therein, the rehabilitation program includes a rehabilitation program with the movements of the first rotation interface (8') and the second rotation interface (8") being asynchronous with each other.

18. The device (1) according to any one of the preceding claims, wherein: The control device (11) is configured as follows: - controlling said first motor (7') and said second motor (7") by means of angular position control in order to perform a rehabilitation procedure, - Controlling said first motor (7') and said second motor (7") by means of rotational speed control to perform a rehabilitation program.

19. The device (1) according to any one of the preceding claims, wherein: The control device (11) is configured to control the first motor (7') and the second motor (7") by means of impedance and / or admittance control to perform a rehabilitation program based on: - the angular position of the first rotation interface (8') and the second rotation interface (8") detected by the first position detection means (9') and the second position detection means (9"), - theoretical angular positions of the first rotation interface (8') and of the second rotation interface (8") controlled by the control device (11), and - The respective torques transmitted to the first rotation interface (8') and the second rotation interface (8") detected by the first torque detection means (10') and the second torque detection means (10") .

20. The device (1) according to any one of the preceding claims, wherein: The control device (11) is configured to control the movement of the first motor (7') and the second motor (7") in a dependent manner according to one or more dependent parameters and dependent functions, wherein the dependent parameters and dependent functions are pre-set or can be selected through a user interface (32).

21. The device (1) according to any one of the preceding claims, wherein: The control device (11) communicates signals with one or more of the following: - one or more myoelectric sensors (35), - one or more functional electrical stimulation devices (36), - one or more EEG signal detectors (37), - one or more electronic graphical user interfaces (33) and / or auditory user interfaces (38), - one or more EDA sensors (39), - one or more ECG sensors (40), - one or more digital cameras (41), And is configured to control the first motor (7') and the second motor (7") according to the signal provided thereby.

22. The device (1) according to any one of the preceding claims, wherein: The first rotation axis (15') and the second rotation axis (15") have a fixed relative position therebetween.

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